{
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     "data": {
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       "\n",
       "    <div class=\"bk-root\">\n",
       "        <a href=\"http://bokeh.pydata.org\" target=\"_blank\" class=\"bk-logo bk-logo-small bk-logo-notebook\"></a>\n",
       "        <span id=\"7d558734-a368-4378-ad45-b8a3f0cd269c\">Loading BokehJS ...</span>\n",
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      "application/javascript": [
       "\n",
       "(function(global) {\n",
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       "\n",
       "  var force = true;\n",
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       "  if (typeof (window._bokeh_onload_callbacks) === \"undefined\" || force === true) {\n",
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       "  }\n",
       "\n",
       "\n",
       "  \n",
       "  if (typeof (window._bokeh_timeout) === \"undefined\" || force === true) {\n",
       "    window._bokeh_timeout = Date.now() + 5000;\n",
       "    window._bokeh_failed_load = false;\n",
       "  }\n",
       "\n",
       "  var NB_LOAD_WARNING = {'data': {'text/html':\n",
       "     \"<div style='background-color: #fdd'>\\n\"+\n",
       "     \"<p>\\n\"+\n",
       "     \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
       "     \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
       "     \"</p>\\n\"+\n",
       "     \"<ul>\\n\"+\n",
       "     \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n",
       "     \"<li>use INLINE resources instead, as so:</li>\\n\"+\n",
       "     \"</ul>\\n\"+\n",
       "     \"<code>\\n\"+\n",
       "     \"from bokeh.resources import INLINE\\n\"+\n",
       "     \"output_notebook(resources=INLINE)\\n\"+\n",
       "     \"</code>\\n\"+\n",
       "     \"</div>\"}};\n",
       "\n",
       "  function display_loaded() {\n",
       "    if (window.Bokeh !== undefined) {\n",
       "      document.getElementById(\"7d558734-a368-4378-ad45-b8a3f0cd269c\").textContent = \"BokehJS successfully loaded.\";\n",
       "    } else if (Date.now() < window._bokeh_timeout) {\n",
       "      setTimeout(display_loaded, 100)\n",
       "    }\n",
       "  }\n",
       "\n",
       "  function run_callbacks() {\n",
       "    window._bokeh_onload_callbacks.forEach(function(callback) { callback() });\n",
       "    delete window._bokeh_onload_callbacks\n",
       "    console.info(\"Bokeh: all callbacks have finished\");\n",
       "  }\n",
       "\n",
       "  function load_libs(js_urls, callback) {\n",
       "    window._bokeh_onload_callbacks.push(callback);\n",
       "    if (window._bokeh_is_loading > 0) {\n",
       "      console.log(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n",
       "      return null;\n",
       "    }\n",
       "    if (js_urls == null || js_urls.length === 0) {\n",
       "      run_callbacks();\n",
       "      return null;\n",
       "    }\n",
       "    console.log(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n",
       "    window._bokeh_is_loading = js_urls.length;\n",
       "    for (var i = 0; i < js_urls.length; i++) {\n",
       "      var url = js_urls[i];\n",
       "      var s = document.createElement('script');\n",
       "      s.src = url;\n",
       "      s.async = false;\n",
       "      s.onreadystatechange = s.onload = function() {\n",
       "        window._bokeh_is_loading--;\n",
       "        if (window._bokeh_is_loading === 0) {\n",
       "          console.log(\"Bokeh: all BokehJS libraries loaded\");\n",
       "          run_callbacks()\n",
       "        }\n",
       "      };\n",
       "      s.onerror = function() {\n",
       "        console.warn(\"failed to load library \" + url);\n",
       "      };\n",
       "      console.log(\"Bokeh: injecting script tag for BokehJS library: \", url);\n",
       "      document.getElementsByTagName(\"head\")[0].appendChild(s);\n",
       "    }\n",
       "  };var element = document.getElementById(\"7d558734-a368-4378-ad45-b8a3f0cd269c\");\n",
       "  if (element == null) {\n",
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       "    return false;\n",
       "  }\n",
       "\n",
       "  var js_urls = [\"https://cdn.pydata.org/bokeh/release/bokeh-0.12.4.min.js\", \"https://cdn.pydata.org/bokeh/release/bokeh-widgets-0.12.4.min.js\"];\n",
       "\n",
       "  var inline_js = [\n",
       "    function(Bokeh) {\n",
       "      Bokeh.set_log_level(\"info\");\n",
       "    },\n",
       "    \n",
       "    function(Bokeh) {\n",
       "      \n",
       "      document.getElementById(\"7d558734-a368-4378-ad45-b8a3f0cd269c\").textContent = \"BokehJS is loading...\";\n",
       "    },\n",
       "    function(Bokeh) {\n",
       "      console.log(\"Bokeh: injecting CSS: https://cdn.pydata.org/bokeh/release/bokeh-0.12.4.min.css\");\n",
       "      Bokeh.embed.inject_css(\"https://cdn.pydata.org/bokeh/release/bokeh-0.12.4.min.css\");\n",
       "      console.log(\"Bokeh: injecting CSS: https://cdn.pydata.org/bokeh/release/bokeh-widgets-0.12.4.min.css\");\n",
       "      Bokeh.embed.inject_css(\"https://cdn.pydata.org/bokeh/release/bokeh-widgets-0.12.4.min.css\");\n",
       "    }\n",
       "  ];\n",
       "\n",
       "  function run_inline_js() {\n",
       "    \n",
       "    if ((window.Bokeh !== undefined) || (force === true)) {\n",
       "      for (var i = 0; i < inline_js.length; i++) {\n",
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       "      console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n",
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       "\n",
       "  }\n",
       "\n",
       "  if (window._bokeh_is_loading === 0) {\n",
       "    console.log(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
       "    run_inline_js();\n",
       "  } else {\n",
       "    load_libs(js_urls, function() {\n",
       "      console.log(\"Bokeh: BokehJS plotting callback run at\", now());\n",
       "      run_inline_js();\n",
       "    });\n",
       "  }\n",
       "}(this));"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "from math import atan2\n",
    "from bokeh.io import output_notebook, show\n",
    "from bokeh.plotting import figure\n",
    "from bokeh.models import HoverTool\n",
    "from bokeh.models import ColumnDataSource\n",
    "output_notebook()\n",
    "#https://nbviewer.jupyter.org/github/bokeh/bokeh-notebooks/tree/master/tutorial/"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "file_path = \"out-3.txt\"\n",
    "\n",
    "'''\n",
    "time_stamp\n",
    "px_state\n",
    "py_state\n",
    "v_state\n",
    "yaw_angle_state\n",
    "yaw_rate_state\n",
    "sensor_type\n",
    "NIS\n",
    "px_measured\n",
    "py_measured\n",
    "px_ground_truth\n",
    "py_ground_truth\n",
    "vx_ground_truth\n",
    "vy_ground_truth\n",
    "'''\n",
    "\n",
    "all_px_truth = []\n",
    "all_py_truth = []\n",
    "all_px_radar = []\n",
    "all_py_radar = []\n",
    "all_px_lidar = []\n",
    "all_py_lidar = []\n",
    "all_px_state = []\n",
    "all_py_state = []\n",
    "all_nis_lidar = []\n",
    "all_nis_radar = []\n",
    "all_yaw_truth = []\n",
    "all_yaw_state = []\n",
    "\n",
    "\n",
    "with open(file_path) as f:\n",
    "    \n",
    "  for line in f:\n",
    "    \n",
    "    data = line.split()\n",
    "    timestamp = int(data[0])\n",
    "    px_state = float(data[1])\n",
    "    py_state = float(data[2])\n",
    "    v_state = float(data[3])\n",
    "    yaw_state = float(data[4])\n",
    "    yawrate_state = float(data[5])\n",
    "    sensor_type = data[6]\n",
    "    nis = float(data[7])\n",
    "    px_measured = float(data[8])\n",
    "    py_measured = float(data[9])\n",
    "    px_truth = float(data[10])\n",
    "    py_truth = float(data[11])\n",
    "    vx_truth = float(data[12])\n",
    "    vy_truth = float(data[13])\n",
    "    yaw_truth = atan2(vy_truth, vx_truth)\n",
    "\n",
    "    all_px_truth.append(px_truth)\n",
    "    all_py_truth.append(py_truth)\n",
    "    all_px_state.append(px_state)\n",
    "    all_py_state.append(py_state)\n",
    "    all_yaw_truth.append(yaw_truth)\n",
    "    all_yaw_state.append(yaw_state)\n",
    "    \n",
    "    if sensor_type == \"lidar\":\n",
    "      all_nis_lidar.append(nis)\n",
    "      all_px_lidar.append(px_measured)\n",
    "      all_py_lidar.append(py_measured)\n",
    "    \n",
    "    if sensor_type == \"radar\":\n",
    "      all_nis_radar.append(nis)\n",
    "      all_px_radar.append(px_measured)\n",
    "      all_py_radar.append(py_measured)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "radar_source = ColumnDataSource(data = {\n",
    "    'x' : all_px_radar,\n",
    "    'y' : all_py_radar \n",
    "})\n",
    "\n",
    "lidar_source = ColumnDataSource(data = {\n",
    "    'x' : all_px_lidar,\n",
    "    'y' : all_py_lidar \n",
    "})\n",
    "\n",
    "state_source = ColumnDataSource(data = {\n",
    "    'x' : all_px_state,\n",
    "    'y' : all_py_state, \n",
    "    'angle' : all_yaw_state\n",
    "})\n",
    "\n",
    "truth_source = ColumnDataSource(data = {\n",
    "    'x' : all_px_truth,\n",
    "    'y' : all_py_truth, \n",
    "    'angle' : all_yaw_truth\n",
    "})"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
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       "\n",
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       "    <div class=\"bk-root\">\n",
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       "    \n",
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       "      window._bokeh_timeout = Date.now() + 0;\n",
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       "       \"<div style='background-color: #fdd'>\\n\"+\n",
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       "       \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
       "       \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
       "       \"</p>\\n\"+\n",
       "       \"<ul>\\n\"+\n",
       "       \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n",
       "       \"<li>use INLINE resources instead, as so:</li>\\n\"+\n",
       "       \"</ul>\\n\"+\n",
       "       \"<code>\\n\"+\n",
       "       \"from bokeh.resources import INLINE\\n\"+\n",
       "       \"output_notebook(resources=INLINE)\\n\"+\n",
       "       \"</code>\\n\"+\n",
       "       \"</div>\"}};\n",
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       "    function display_loaded() {\n",
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       "  \n",
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       "      delete window._bokeh_onload_callbacks\n",
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       "  \n",
       "    function load_libs(js_urls, callback) {\n",
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       "      if (window._bokeh_is_loading > 0) {\n",
       "        console.log(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n",
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       "      console.log(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n",
       "      window._bokeh_is_loading = js_urls.length;\n",
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       "        s.async = false;\n",
       "        s.onreadystatechange = s.onload = function() {\n",
       "          window._bokeh_is_loading--;\n",
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       "            console.log(\"Bokeh: all BokehJS libraries loaded\");\n",
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       "        };\n",
       "        s.onerror = function() {\n",
       "          console.warn(\"failed to load library \" + url);\n",
       "        };\n",
       "        console.log(\"Bokeh: injecting script tag for BokehJS library: \", url);\n",
       "        document.getElementsByTagName(\"head\")[0].appendChild(s);\n",
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       "    };var element = document.getElementById(\"44819594-630e-42dd-9b49-8632e1e97137\");\n",
       "    if (element == null) {\n",
       "      console.log(\"Bokeh: ERROR: autoload.js configured with elementid '44819594-630e-42dd-9b49-8632e1e97137' but no matching script tag was found. \")\n",
       "      return false;\n",
       "    }\n",
       "  \n",
       "    var js_urls = [];\n",
       "  \n",
       "    var inline_js = [\n",
       "      function(Bokeh) {\n",
       "        (function() {\n",
       "          var fn = function() {\n",
       "            var docs_json = 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       "            var render_items = [{\"docid\":\"b1a398c7-c9c2-4e58-92e4-5edcd0b20e51\",\"elementid\":\"44819594-630e-42dd-9b49-8632e1e97137\",\"modelid\":\"67c40b3c-566f-42bb-ad92-fcda7bad9ca9\"}];\n",
       "            \n",
       "            Bokeh.embed.embed_items(docs_json, render_items);\n",
       "          };\n",
       "          if (document.readyState != \"loading\") fn();\n",
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       "      function(Bokeh) {\n",
       "      }\n",
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       "      } else if (!window._bokeh_failed_load) {\n",
       "        console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n",
       "        window._bokeh_failed_load = true;\n",
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       "        var cell = $(document.getElementById(\"44819594-630e-42dd-9b49-8632e1e97137\")).parents('.cell').data().cell;\n",
       "        cell.output_area.append_execute_result(NB_LOAD_WARNING)\n",
       "      }\n",
       "  \n",
       "    }\n",
       "  \n",
       "    if (window._bokeh_is_loading === 0) {\n",
       "      console.log(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
       "      run_inline_js();\n",
       "    } else {\n",
       "      load_libs(js_urls, function() {\n",
       "        console.log(\"Bokeh: BokehJS plotting callback run at\", now());\n",
       "        run_inline_js();\n",
       "      });\n",
       "    }\n",
       "  }(this));\n",
       "</script>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "p = figure(plot_width = 1000, plot_height = 700)\n",
    "\n",
    "p.square(\n",
    "  'x', 'y', size = 5, \n",
    "  fill_color = \"orange\",\n",
    "  line_color = \"orange\",\n",
    "  fill_alpha = 1,\n",
    "  line_width = 1, \n",
    "  legend = \"radar measurements\", \n",
    "  source = radar_source)\n",
    "\n",
    "p.circle(\n",
    "  'x', 'y', size = 15, \n",
    "  fill_color = \"green\",\n",
    "  line_color = \"white\",\n",
    "  fill_alpha = 0.2,\n",
    "  line_width = 1, \n",
    "  legend = \"lidar measurements\", \n",
    "  source = lidar_source)\n",
    "\n",
    "p.triangle(\n",
    "  'x', 'y', size = 7, \n",
    "  fill_color = \"violet\",\n",
    "  line_color = \"violet\",\n",
    "  fill_alpha = 1,\n",
    "  angle = 'angle', \n",
    "  line_width = 0.5, \n",
    "  legend = \"ground truth\",\n",
    "  source = truth_source)\n",
    "\n",
    "\n",
    "p.triangle(\n",
    "  'x', 'y', size = 2, \n",
    "  fill_color = \"black\",\n",
    "  line_color = \"black\",\n",
    "  fill_alpha = 1,\n",
    "  angle = 'angle', \n",
    "  line_width = 1, \n",
    "  legend = \"state predictions\", \n",
    "  source = state_source)\n",
    "\n",
    "p.legend.location = \"bottom_right\"\n",
    "show(p)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "\n",
       "    <div class=\"bk-root\">\n",
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       "    if (typeof (window._bokeh_onload_callbacks) === \"undefined\" || force === true) {\n",
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       "    }\n",
       "  \n",
       "  \n",
       "    \n",
       "    if (typeof (window._bokeh_timeout) === \"undefined\" || force === true) {\n",
       "      window._bokeh_timeout = Date.now() + 0;\n",
       "      window._bokeh_failed_load = false;\n",
       "    }\n",
       "  \n",
       "    var NB_LOAD_WARNING = {'data': {'text/html':\n",
       "       \"<div style='background-color: #fdd'>\\n\"+\n",
       "       \"<p>\\n\"+\n",
       "       \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
       "       \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
       "       \"</p>\\n\"+\n",
       "       \"<ul>\\n\"+\n",
       "       \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n",
       "       \"<li>use INLINE resources instead, as so:</li>\\n\"+\n",
       "       \"</ul>\\n\"+\n",
       "       \"<code>\\n\"+\n",
       "       \"from bokeh.resources import INLINE\\n\"+\n",
       "       \"output_notebook(resources=INLINE)\\n\"+\n",
       "       \"</code>\\n\"+\n",
       "       \"</div>\"}};\n",
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       "      delete window._bokeh_onload_callbacks\n",
       "      console.info(\"Bokeh: all callbacks have finished\");\n",
       "    }\n",
       "  \n",
       "    function load_libs(js_urls, callback) {\n",
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       "      console.log(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n",
       "      window._bokeh_is_loading = js_urls.length;\n",
       "      for (var i = 0; i < js_urls.length; i++) {\n",
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       "        var s = document.createElement('script');\n",
       "        s.src = url;\n",
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       "        s.onreadystatechange = s.onload = function() {\n",
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       "          if (window._bokeh_is_loading === 0) {\n",
       "            console.log(\"Bokeh: all BokehJS libraries loaded\");\n",
       "            run_callbacks()\n",
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       "        };\n",
       "        s.onerror = function() {\n",
       "          console.warn(\"failed to load library \" + url);\n",
       "        };\n",
       "        console.log(\"Bokeh: injecting script tag for BokehJS library: \", url);\n",
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       "    };var element = document.getElementById(\"df1a94e0-8553-4b5c-a22d-e84c384e3919\");\n",
       "    if (element == null) {\n",
       "      console.log(\"Bokeh: ERROR: autoload.js configured with elementid 'df1a94e0-8553-4b5c-a22d-e84c384e3919' but no matching script tag was found. \")\n",
       "      return false;\n",
       "    }\n",
       "  \n",
       "    var js_urls = [];\n",
       "  \n",
       "    var inline_js = [\n",
       "      function(Bokeh) {\n",
       "        (function() {\n",
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       "      load_libs(js_urls, function() {\n",
       "        console.log(\"Bokeh: BokehJS plotting callback run at\", now());\n",
       "        run_inline_js();\n",
       "      });\n",
       "    }\n",
       "  }(this));\n",
       "</script>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "p2 = figure(plot_width = 1000, plot_height = 700)\n",
    "\n",
    "p2.square(\n",
    "  'x', 'y', size = 5, \n",
    "  fill_color = \"violet\",\n",
    "  line_color = \"violet\",\n",
    "  fill_alpha = 1,\n",
    "  line_width = 1, \n",
    "  legend = \"radar measurements\", \n",
    "  source = radar_source)\n",
    "\n",
    "p2.circle(\n",
    "  'x', 'y', size = 10, \n",
    "  fill_color = \"green\",\n",
    "  line_color = \"white\",\n",
    "  fill_alpha = 0.4,\n",
    "  line_width = 1, \n",
    "  legend = \"lidar measurements\", \n",
    "  source = lidar_source)\n",
    "\n",
    "p2.line(all_px_state, all_py_state, line_width = 2, color='orange', legend = \"state predictions\")\n",
    "p2.line(all_px_truth, all_py_truth, line_dash = \"4 4\", line_width = 1, color='navy', legend = \"ground truth\")\n",
    "\n",
    "p2.legend.location = \"bottom_right\"\n",
    "show(p2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
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       "       \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
       "       \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
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       "      console.log(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
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   ],
   "source": [
    "nis_length = len(all_nis_radar)\n",
    "x_radar = [i for i in range(nis_length)]\n",
    "\n",
    "p3 = figure(plot_width = 700, plot_height = 700)\n",
    "\n",
    "p3.circle(x_radar, all_nis_radar, size = 5, fill_color=\"orange\", line_color = \"orange\", legend = \"radar_nis\")\n",
    "p3.line([0, nis_length], [7.815, 7.815], line_width = 2, color='violet', legend = \"chi squared 0.95 - 3DOF\")\n",
    "\n",
    "p3.legend.location = \"top_right\"\n",
    "\n",
    "show(p3)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
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   ],
   "source": [
    "nis_length = len(all_nis_lidar)\n",
    "x_lidar = [i for i in range(nis_length)]\n",
    "\n",
    "p4 = figure(plot_width = 700, plot_height = 700)\n",
    "\n",
    "p4.circle(x_lidar, all_nis_lidar, size = 5, fill_color=\"violet\", line_color = \"violet\", legend = \"lidar_nis\")\n",
    "p4.line([0, nis_length], [5.991, 5.991], line_width = 2, color='orange', legend = \"chi squared 0.95 - 2DOF\")\n",
    "\n",
    "p4.legend.location = \"top_right\"\n",
    "\n",
    "show(p4)"
   ]
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